The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.
Intertrack: Tracking human object interaction without object templates
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Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.